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experimental investigation of the performance of a series of propellers for a human powered underwater vehicle
Title
An experimental investigation of the performance of a series of propellers for a human powered underwater vehicle.
Creator
Heeb, Karl Von., Florida Atlantic University, Dhanak, Manhar R.
Abstract/Description
Designing a propeller for optimum performance on a human powered underwater vehicle presents a significant engineering challenge. The propeller must be highly efficient to utilize the inherently low power output of a human. Also, the propeller must be correctly matched to the maximum sustainable torque of the propulsor. This thesis experimentally investigates a minimum induced loss propeller design program and its application to a human powered underwater vehicle. The design program is based...
Show moreDesigning a propeller for optimum performance on a human powered underwater vehicle presents a significant engineering challenge. The propeller must be highly efficient to utilize the inherently low power output of a human. Also, the propeller must be correctly matched to the maximum sustainable torque of the propulsor. This thesis experimentally investigates a minimum induced loss propeller design program and its application to a human powered underwater vehicle. The design program is based on the vortex theory of propellers. The work includes experimental measurements of the velocity and rotational rate of three propellers designed with the minimum induced loss propeller design program. This positively verifies the output of the design algorithm. Also, the research, through the use of an underwater ergometer, determines the maximum power and torque sustainable by a human pedaling underwater. Final results of the research show that the design algorithm overestimates the blade section angles by 25% because the design program neglects the influence of the wake of the vehicle.
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Date Issued
1994
PURL
http://purl.flvc.org/fcla/dt/15078
Subject Headings
Propellers, Submersibles, Underwater propulsion
Format
Document (PDF)
Experimental investigation of an oscillating hydrofoil propulsion system
Title
Experimental investigation of an oscillating hydrofoil propulsion system.
Creator
Viswanathan, Hariharan., Florida Atlantic University, Marshall, Jeffrey S., College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
An experimental investigation of an oscillating hydrofoil propulsion system working behind a model of a small submersible was conducted. Tests were carried out both for a single foil and for systems of two foils. The tests with two foils considered various possible interactions between the foils. In order to understand the influence of trailing vortices of the foils on efficiency of the propulsion system, the two foils were tested for three different combinations of their relative wing spans....
Show moreAn experimental investigation of an oscillating hydrofoil propulsion system working behind a model of a small submersible was conducted. Tests were carried out both for a single foil and for systems of two foils. The tests with two foils considered various possible interactions between the foils. In order to understand the influence of trailing vortices of the foils on efficiency of the propulsion system, the two foils were tested for three different combinations of their relative wing spans. All of the above tests were carried out for two types of foil motion, one in which the pitch distribution was prescribed and the other in which the pitch depended on the motion characteristics.
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Date Issued
1991
PURL
http://purl.flvc.org/fcla/dt/14695
Subject Headings
Underwater propulsion, Submersibles, Hydrofoil boats
Format
Document (PDF)
Swimming control of an underwater vessel with elongated ribbon fin propulsion
Title
Swimming control of an underwater vessel with elongated ribbon fin propulsion.
Creator
Uddin, Mohammad Irfan, Curet, Oscar M., Florida Atlantic University, Department of Ocean and Mechanical Engineering, College of Engineering and Computer Science
Abstract/Description
Navigation of unmanned underwater vehicles in coastal zones, tight spaces and close to structures such as ports, ship hulls and pipelines remains a difficult challenge. Currently Autonomous Underwater Vehicles (AUVs) use a variety of techniques for motion control, including single thrusters with diving planes or hydrofoils, robotic wrists, or a moving mass. However, these techniques provide limited maneuverability. The objective of this work was to understand the mechanics of elongated fin...
Show moreNavigation of unmanned underwater vehicles in coastal zones, tight spaces and close to structures such as ports, ship hulls and pipelines remains a difficult challenge. Currently Autonomous Underwater Vehicles (AUVs) use a variety of techniques for motion control, including single thrusters with diving planes or hydrofoils, robotic wrists, or a moving mass. However, these techniques provide limited maneuverability. The objective of this work was to understand the mechanics of elongated fin propulsion for swimming and motion control of underwater vehicles. This bio-inspired propulsion is used by several fishes that swim by undulating a thin and elongated median fin that allow them to perform forward and directional maneuvers. In the first chapter we present the literature review as well as the mathematical formulation using thrust vectoring approach to achieve forward and turning maneuvers. In the second chapter, we used a robotic vessel with elongated fin propulsion to determine the thrust scaling and efficiency. Using precise force and swimming kinematics measurements with the robotic vessel, the thrust generated by the undulating fin was found to scale with the square of the relative velocity between the free streaming flow and the wave speed. In addition, a hydrodynamic efficiency is presented based on propulsive force measurements and a model on the power required to oscillate the fin laterally.
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Date Issued
2022
PURL
http://purl.flvc.org/fau/fd/FA00014117
Subject Headings
Autonomous underwater vehicles, Biomimetics, Underwater propulsion
Format
Document (PDF)
Design, implementation and testing of a bio-inspired propulsion system for autonomous underwater vehicles
Title
Design, implementation and testing of a bio-inspired propulsion system for autonomous underwater vehicles.
Creator
Le Goff, Ivan., Florida Atlantic University, Leonessa, Alexander, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Some Autonomous Underwater Vehicles have recently been designed to mimic the locomotion of underwater animals. A new way of propulsion which uses Oscillating Fin Thrusters (OFTs) has been implemented on the AUV Morpheus, with the Nektor module. In particular, first a low level adaptive controller has been developed with the purpose of studying the characteristics of the OFT. Then, a new vehicle using Morpheus' base has been built in order to implement this module and test it. This required...
Show moreSome Autonomous Underwater Vehicles have recently been designed to mimic the locomotion of underwater animals. A new way of propulsion which uses Oscillating Fin Thrusters (OFTs) has been implemented on the AUV Morpheus, with the Nektor module. In particular, first a low level adaptive controller has been developed with the purpose of studying the characteristics of the OFT. Then, a new vehicle using Morpheus' base has been built in order to implement this module and test it. This required for the Lonworks network to be interfaced with QNXnet to create a multi communication protocol vehicle. Concerning the high level control, some proportional controllers and a 6-degree of freedom adaptive controller have been implemented and tested on the new vehicle. The results from these tests have shown that the Nektor module is suitable for the Morpheus, providing high-maneuverability features unavailable when using more standard propulsion systems.
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Date Issued
2003
PURL
http://purl.flvc.org/fcla/dt/13000
Subject Headings
Oceanographic submersibles--Computer simulation, Underwater propulsion
Format
Document (PDF)
High efficiency, counter-rotating ring thruster for underwater vehicles
Title
High efficiency, counter-rotating ring thruster for underwater vehicles.
Creator
Holt, John K., White, Dan G., Harbor Branch Oceanographic Institute
Date Issued
1994
PURL
http://purl.flvc.org/FCLA/DT/3183680
Subject Headings
Submersibles--Design and construction, Underwater vehicles, Propulsion systems
Format
Document (PDF)
Propulsive Performance and Maneuver Control of Undulatory Ribbon Fin Propulsion Using Bio-inspired Robotic Systems
Title
Propulsive Performance and Maneuver Control of Undulatory Ribbon Fin Propulsion Using Bio-inspired Robotic Systems.
Creator
Liu, Hanlin, Curet, Oscar M., Florida Atlantic University, College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering
Abstract/Description
Undulatory ribbon- n-based propulsion is an appealing propulsion mechanism due to its rich locomotor capabilities that can improve the propulsive performance and maneuverability of underwater vehicles. For instance, the swimming mechanics of weakly electric black ghost knife sh (Apteronotus albifrons) is of great interest to study because of their high swimming e ciency at low speeds and extraordinary agility such as rapid reversal swimming, hovering in presence of water disturbance, rolling...
Show moreUndulatory ribbon- n-based propulsion is an appealing propulsion mechanism due to its rich locomotor capabilities that can improve the propulsive performance and maneuverability of underwater vehicles. For instance, the swimming mechanics of weakly electric black ghost knife sh (Apteronotus albifrons) is of great interest to study because of their high swimming e ciency at low speeds and extraordinary agility such as rapid reversal swimming, hovering in presence of water disturbance, rolling and vertical swimming. In this thesis work, to facilitate our understanding on the exible undulatory ribbon n propulsion, we have four research motivations. The rst objective is to study how the use of exible rays and di erent n morphology can in uence the propulsive performance of ribbon- n propulsion. It is possible that natural swimmers using this locomotion method could take advantage of passive n motion based on the coupling of uid-structure interaction and the elasto-mechanical responses of the undulating n. Therefore, the second objective is to understand how an under-actuated undulating n can take advantage of natural dynamics of the uid-structure interaction for the propulsive force generation. In addition to the impressive propulsive performance of the undulatory n propulsion, the exceptional maneuverability of knife sh is also a key motivation that drives this thesis work. Thus, we dedicate to investigate how traveling wave shapes and actuation parameters (frequency, wavelength) can manipulate the maneuvering behaviors of a swimmer propelled by an undulating ribbon n. Lastly, we aim to uncover the e ect of varying traveling wave amplitudes and pectoral ns on its maneuvering performances. Two robotic devices were developed to study the propulsive performance of both fullyactuated and under-actuated ribbon n propulsion and investigate the maneuver control of a free-swimming underwater robot propelled by an undulatory n. For the rst research aim, we study the e ect of exible rays and di erent n morphology on the propulsive performance of ribbon- n propulsion. A physical model composed of fteen rays interconnected with an elastic membrane was used to test four di erent ray exural sti ness and four aspect ratios. Our results show that exible rays can improve the propulsive e ciency compared to a rigid counterpart. In addition, the morphology of the ribbon n a ects its propulsive performance as well, and there could exist an optimal n morphology. To understand how an underactuated undulating n can modify its active and passive n motion to e ectively control the hydrodynamic force and propulsive e ciency. We did a series of experiments using the same robotic n model but with some structural modi cations and we measured n kinematics, net surge force and power consumption. We nd that the under-actuated n can keep the equivalent propulsive e ciency as the fully-actuated counterpart within our experimental parameter range. Moreover, our results demonstrate that the thrust force and power consumption of an under-actuated n follow the same scaling laws as the fully-actuated n. To conduct the free-swimming maneuver study, we developed a self-contained, free-swimming robot propelled by an undulatory n, which is able to perform the following maneuvers: forward, reversed swimming and hovering motion. We also performed V3V PIV experiments to capture the ow structures generated by the robotic device. Our results show that the robot can reach higher swimming e ciency at low frequencies. As the number of traveling waves increases, the robot swims more stably in roll, pitch and yaw motions. For cases with varying wave amplitudes, traveling wave with incremental wave amplitude can achieve free-swimming velocity higher than that of decremental wave amplitude. However, the latter case can generate higher pitch angles. For the robot with slightly negative-pitched pectoral ns, it can perform slow diving maneuvers. These ndings demonstrate that we can take advantage of the undulating ribbon n propulsion to achieve high maneuverability for the future underwater vehicles in complex environment.
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Date Issued
2017
PURL
http://purl.flvc.org/fau/fd/FA00004853, http://purl.flvc.org/fau/fd/FA00004853
Subject Headings
Underwater propulsion., Wave-motion, Theory of., Remote submersibles--Design., Marine engineering.
Format
Document (PDF)